CN104769191A - Construction machine - Google Patents

Construction machine Download PDF

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Publication number
CN104769191A
CN104769191A CN201380057760.XA CN201380057760A CN104769191A CN 104769191 A CN104769191 A CN 104769191A CN 201380057760 A CN201380057760 A CN 201380057760A CN 104769191 A CN104769191 A CN 104769191A
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CN
China
Prior art keywords
hydraulic
motor
valve
control valve
directional control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201380057760.XA
Other languages
Chinese (zh)
Other versions
CN104769191B (en
Inventor
西川真司
佐竹英敏
井村进也
泉枝穗
石川广二
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication of CN104769191A publication Critical patent/CN104769191A/en
Application granted granted Critical
Publication of CN104769191B publication Critical patent/CN104769191B/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/162—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for giving priority to particular servomotors or users
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/14—Special measures for giving the operating person a "feeling" of the response of the actuated device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B2015/206—Combined actuation, e.g. electric and fluid actuated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/75—Control of speed of the output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members
    • F15B2211/781—Control of multiple output members one or more output members having priority

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

A construction machine is provided with: a rotatable body (50); a hydraulic pump (1); a hydraulic motor (3) which drives the rotatable body (50) using hydraulic oil supplied from the hydraulic pump (1); an electric motor (14) which, either singly or together with the hydraulic motor (3), drives the rotatable body (50); and a hydraulic actuator (16) which can operate together with the rotatable body (50) and which is driven by hydraulic oil from the hydraulic pump (1). When simultaneously operating the rotatable body (50) and the hydraulic actuator (16), the rotatable body (50) is rotated only by the electric motor (14).

Description

Engineering machinery
Technical field
The present invention relates to the drive source as rotary body and there is the engineering machinery of hydraulic motor and electro-motor both sides.
Background technology
In the engineering machinery (such as hydraulic crawler excavator) with hydraulic pump driven by the engine, the hydraulic actuating mechanism driven by the working oil from this hydraulic pump and rotary body, comprise following hybrid construction machine, it carries out driving and the braking of rotary body by electro-motor, and the kinetic energy of rotary body during rotation brake is regenerated as electric energy.In this project machinery, utilize the regenerated electric power that obtains during rotation brake and by electrical motor driven rotary body, reduce hydraulic pump power (i.e. engine loading) thus, and seeking to reduce and the energy-saving of realization based on the fuel consumption of motor.
Following type is comprised at this hybrid construction machine, it is equipped with hydraulic motor and electro-motor both sides (hydraulic electric composite rotating) (such as, Japanese Unexamined Patent Publication 2011-241653 publication) as the motor (rotation motor) for making rotary body rotate.In this project machinery, usually hydraulic rotating motor and other hydraulic actuating mechanisms (hydraulic cylinder) are configured on same hydraulic circuit, and use the hydraulic oil of being smoked by same hydraulic pump to drive respectively them, therefore, about this point, become the structure identical with the engineering machinery of the existing type by the independent driving rotating bodies of hydraulic motor.
Prior art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2011-241653 publication
At hydraulic rotating motor as described above and other hydraulic actuating mechanisms from the system of the supply of same hydraulic pump acceptable solution force feed, when operator operates this hydraulic rotating motor and these other hydraulic actuating mechanisms simultaneously, more working oil can flow to the executing agency that load is relatively little.Therefore, when the load of hydraulic rotating motor is relatively little, working oil makes rotary body accelerate to hydraulic rotating Motor flow more, and the operation sense of operator can reduce.Especially, when as described above by hydraulic rotating motor and electronic rotation motor both sides' driving rotating bodies, the tendency that the load compared with the work mechanism of existing type with hydraulic rotating motor diminishes, therefore working oil is easier in hydraulic rotating Motor flow.
Such as, at hydraulic rotating motor as described above and other hydraulic actuating mechanisms from the system of the supply of same hydraulic pump acceptable solution force feed, there is the situation swing arm hydraulic cylinder in hydraulic crawler excavator being configured to these other hydraulic actuating mechanisms.Within the system, when performing swing arm lifting operation (rotating swing arm lifting operation) in rotation process, and when comparing the relative larger load of swing arm hydraulic cylinder effect with hydraulic rotating motor (such as, when carrying out the action of lifting goods in low speed rotation), prexxure of the hydraulic pump can rise because of the beginning of swing arm lifting operation, and the working oil of high pressure flows into (being pressed into) to the light hydraulic rotating motor of load makes rotary body accelerate.Such as, when for one side low speed rotation while when making goods correctly move on the target location of regulation, when there is above-mentioned that rotary body by carrying out swing arm lifting operation further and accelerating, can carry out the action different from the normal conditions that rotary body does not accelerate, operator can be difficult to goods to be correctly parked on this target location.
Summary of the invention
The object of the invention is to, provide a kind of drive source as rotary body and have the engineering machinery of hydraulic motor and electro-motor both sides, it can keep the operation sense of operator when rotating composite move well.
(1) in order to reach above-mentioned purpose, the present invention has: rotary body; Hydraulic pump; The hydraulic motor of described rotary body is driven by the working oil from this hydraulic pump; The electro-motor of described rotary body jointly or is individually driven with this hydraulic rotating motor; With exist with the situation of described rotary body action simultaneously and the hydraulic actuating mechanism driven by the working oil from described hydraulic pump, described rotary body, with the while of described hydraulic actuating mechanism during action, rotates by means of only described electro-motor.
(2) in above-mentioned (1), preferably, when described rotary body and the action simultaneously of described hydraulic actuating mechanism, described hydraulic motor is truncated the supply of the working oil from described hydraulic pump.
(3) in above-mentioned (2), preferably, the present invention also has: directional control valve, and it is arranged on the oil circuit of the described hydraulic pump of connection and described hydraulic motor, for controlling direction and the flow of the working oil supplied to described hydraulic motor from described hydraulic pump; And open and close valve, it is arranged on the oil circuit of the described hydraulic pump of connection and described directional control valve, and described open and close valve is switched to fastening position when described rotary body and the action simultaneously of described hydraulic actuating mechanism.
(4) in above-mentioned (2), preferably, the present invention also has: directional control valve, and it is arranged on the oil circuit of the described hydraulic pump of connection and described hydraulic motor, for controlling direction and the flow of the working oil supplied to described hydraulic motor from described hydraulic pump; And open and close valve, it is arranged on the oil circuit of the described directional control valve of connection and described hydraulic motor, and described open and close valve is switched to fastening position when described rotary body and the action simultaneously of described hydraulic actuating mechanism.
(5) in above-mentioned (2), preferably, the present invention also has: directional control valve, and it is arranged on the oil circuit of the described hydraulic pump of connection and described hydraulic motor, for controlling direction and the flow of the working oil supplied to described hydraulic motor from described hydraulic pump; And cutting device, it is when described rotary body and the action simultaneously of described hydraulic actuating mechanism, and Truncation is in the control signal of described directional control valve.
Invention effect
According to the present invention, have at the drive source as rotary body in the engineering machinery of hydraulic motor and electro-motor both sides, the operation sense of operator when rotating composite move can be kept well.
Accompanying drawing explanation
Fig. 1 is the lateral view of the hybrid power type hydraulic crawler excavator of embodiments of the present invention.
Fig. 2 is the summary construction diagram of the hydraulic system 100 of the first embodiment of the present invention.
Fig. 3 is the summary construction diagram of the hydraulic system in the hydraulic crawler excavator of comparative example of the present invention.
Fig. 4 is the summary construction diagram of the hydraulic system 100A of the second embodiment of the present invention.
Fig. 5 is the summary construction diagram of the hydraulic system 100B of the 3rd embodiment of the present invention.
Fig. 6 is the summary construction diagram of the hydraulic system 100C of the 4th embodiment of the present invention.
Fig. 7 is the summary construction diagram of the hydraulic system 100D of the 5th embodiment of the present invention.
Detailed description of the invention
Below, as engineering machinery for hydraulic crawler excavator, and utilize accompanying drawing so that the embodiments of the present invention to be described.In addition, the present invention go for all there is upper rotating body and as this rotary body drive source and there is the engineering machinery of hydraulic rotating motor and electronic rotation motor both sides, applicable object of the present invention is not limited to the crawler hypraulic excavator used in the following description.Such as, the Other Engineering machinery with wheeled hydraulic excavator or crane representative can also be applicable to.
Fig. 1 is the lateral view of the hybrid power type hydraulic crawler excavator of embodiments of the present invention.Hybrid power type hydraulic crawler excavator shown in this figure has lower traveling body 40, upper rotating body 50 and front apparatus for work 60.
Lower traveling body 40 has: a pair crawler belt 41a, 41b and track frame 45a, 45b (illustrate only side in Fig. 1); A pair traveling hydraulic motor 46,47 of drived control each crawler belt 41a, 41b and reducing gear thereof independently.
Upper rotating body 50 has as the motor 51 of prime mover, auxiliary power generation motor 52, hydraulic pump 1 (with reference to Fig. 2), hydraulic rotating motor 3, electronic rotation motor 14, electrical storage device 54, reducing gear 59 and the swivel mount 58 that carries for these devices.
Auxiliary power generation motor 52 and motor 51 mechanically link, assisted engine 51 when remaining electric power in electrical storage device 54, and are driven by motor 51 when not residual electric power and generate electricity.Hydraulic pump 1 and motor 51 mechanically link, and extract the working oil in fuel tank 4 (with reference to Fig. 2) out and supply working oil to each hydraulic actuating mechanism.
Hydraulic rotating motor 3 and electronic rotation motor 14 are the drive source of upper rotating body 50, the rotary actuation upper rotating body 50 via reducing gear 59.Hydraulic rotating motor 3 is by carrying out rotary actuation upper rotating body 50 from the working oil of hydraulic pump 1.Electronic rotation motor 14 is by carrying out rotary actuation upper rotating body 50 from the electric power of electrical storage device 54 or auxiliary power generation motor 52.As upper rotating body 50 drive source and how to use hydraulic motor 3 and electro-motor 14 (such as, use hydraulic motor 3 and electro-motor 14 both sides or either party), be suitably can change according to the battery power level of the operating state of other hydraulic actuating mechanisms or electrical storage device 54 etc.The driving force of electronic rotation motor 14 and hydraulic rotating motor 3 is transmitted via reducing gear 59, makes upper rotating body 50 (swivel mount 58) relative to lower traveling body 40 rotary actuation by this driving force.
Electrical storage device 54 carries out the accumulation to the electric power that power supply and these motors 52,14 of auxiliary power generation motor 52 and electronic rotation motor 14 produce.As electrical storage device 54, such as, double layer capacitor can be utilized.
Apparatus for work (digging mechanism) 60 before the forward portion of upper rotating body 50 is provided with.Front apparatus for work 60 has: swing arm 61; For driving the swing arm hydraulic cylinder 16 of swing arm 61; The dipper 63 of the fore-end of swing arm 61 can be arranged on rotatably; For driving the dipper hydraulic cylinder 62 of dipper 63; The scraper bowl 65 of the fore-end of dipper 63 can be arranged on rotatably; With the bucket hydraulic cylinder 66 for driving scraper bowl 65.
The swivel mount 58 of upper rotating body 50 is equipped with hydraulic system 100, its for drive above-mentioned traveling hydraulic motor 46,47, hydraulic rotating motor 3, swing arm hydraulic cylinder 16, dipper hydraulic cylinder 62, the hydraulic actuating mechanism such as bucket hydraulic cylinder 66.
Fig. 2 is the summary construction diagram of the hydraulic system 100 opening center type of the first embodiment of the present invention.At this, be set as swing arm hydraulic cylinder 16 with the hydraulic actuating mechanism of upper rotating body 50 action simultaneously.In addition, as object action, and " lifting operation " that hypothesis is carried out via the hook etc. near the joint portion being arranged on dipper and scraper bowl is described.Therefore, the directional control valve (control valve) for controlling each hydraulic actuating mechanism be mounted on the hydraulic crawler excavator shown in Fig. 1 illustrate only the part (directional control valve 2,15) controlled hydraulic rotating motor 14 and swing arm hydraulic cylinder 16.In addition, also have and mark identical Reference numeral and situation about omitting the description (accompanying drawing is afterwards too) in the part identical with accompanying drawing before.
System shown in this figure comprises: directional control valve (control valve) 2, and it is for controlling the direction of working oil that supplies hydraulic rotating motor 3 and flow; Directional control valve (control valve) 15, it is for controlling the direction of working oil that supplies swing arm hydraulic cylinder 16 and flow; Open and close valve 25; Electromagnetic switching valve 26; Action bars (operating means) 10, it exports the hydraulic operation signal (first pilot) of the spinning movement being used for operation upper part rotary body 50; Action bars (operating means) 19, it exports the hydraulic operation signal (first pilot) of the rotational action (expanding-contracting action of swing arm hydraulic cylinder 16) for operating swing arm 61; Controller (control device) 13, it carries out all relevant with the hydraulic crawler excavator control of the control comprising electronic rotation motor 14 and electromagnetic switching valve 26 etc.; Current converter (power-converting device) 103, it is for controlling electronic rotation motor 14 according to the control signal exported from controller 13; With overflow valve 24.
The oil circuit flowed from the working oil of hydraulic pump 1 discharge is connected with central bleed off circuit 71 with the inlet restriction formula oil circuit 72 that central bleed off circuit 71 is connected in parallel.
Central authorities' bleed off circuit 71, first by directional control valve 2, then by directional control valve 15, is finally back to fuel tank 4.That is, both direction control valve 2,15 is connected in series by central bleed off circuit 71.
The working oil of discharging from hydraulic pump 1 is directed into each hydraulic actuating mechanism (hydraulic rotating motor 3 and swing arm hydraulic cylinder 16) via directional control valve 2,15 by inlet restriction formula oil circuit 72, in the present embodiment, both direction control valve 2,15 (two hydraulic actuating mechanisms) is connected in parallel.
Be connected on the position tightly with directional control valve 2 and directional control valve 15 at inlet restriction formula oil circuit 72, be respectively equipped with one way valve 22,23.One way valve 22,23 only when the discharge pressure (pump pressure) of hydraulic pump 1 is higher than the pressure (executing agency's pressure) of executing agency 3,16 side, supplies working oil to hydraulic rotating motor 3 and swing arm hydraulic cylinder 16.
When moving upper rotating body 50 and swing arm 61 lentamente, (that is, when the amount of toppling over of action bars 10,19 is less) compares, then less than the pump load produced by swing arm lifting by rotating the pump load produced.Therefore, about the aperture area of the central bypass tool discharge orifice of both direction control valve 2,15, the directional control valve 15 relevant to swing arm hydraulic cylinder 16 is set to obtain relatively little (amount of restriction is relatively large), to make can obtain higher pump pressure when swing arm lifting.
Overflow valve 24 is connected in parallel relative to central bleed off circuit 71 and inlet restriction formula oil circuit 72, and makes working oil turn back in fuel tank 4 when pump pressure reaches oil pressure relief.
The hydraulic oil that the pioneer pump (not shown) that driven by motor 51 discharges is imported to action bars 10.Hydraulic oil from this pioneer pump imports from the hydraulic power source 9 Fig. 2.Action bars 10, while reduce pressure to the hydraulic oil from hydraulic power source 9 according to its amount of toppling over, generates first pilot in the oil circuit corresponding to its toppling direction.The first pilot generated by action bars 10 acts on the guiding valve of directional control valve 2 and the switching position of suitably switching direction control valve 2.
The first pilot that action bars 10 exports is detected by pressure sensor 11 or pressure sensor 12, and exports to controller 13.
Directional control valve 2 supplies the working oil imported via inlet restriction formula oil circuit 72 to hydraulic rotating motor 3.Suitably can select according to the switching position of directional control valve 2 relative to the direction of the supply of the working oil of hydraulic rotating motor 3.Phegma force feed from hydraulic rotating motor 3 is back to fuel tank 4 via directional control valve 2.
In the hydraulic circuit of hydraulic rotating motor 3, be provided with two overflow valves, 5,6 and two replenish valves 7,8 with working oil accordingly to the direction that hydraulic rotating motor 3 flows.Overflow valve 5,6 turns back in fuel tank 4 for making the working oil reaching oil pressure relief, has the abnormal pressure the function of protective loop cutting down and produce when rotation acceleration and deceleration etc.Replenish valve 7,8 is for the working oil of oil circuit is not enough and its pressure during step-down, sucks working oil from fuel tank 4 compared with tank pressure.Downstream and the upstream side of one group of replenish valve 7,8 of one group of overflow valve 5,6 are connected on the oil circuit that is communicated with fuel tank 4.
Hydraulic rotating motor 3 is connected with electronic rotation motor 14 coaxially, and driving and the braking of electronic rotation motor 14 are controlled by current converter 103.When carrying out separately spinning movement (other executing agencies stop and when only making rotary body 50 action), upper rotating body 50 is driven by the composite force of hydraulic rotating motor 3 and electronic rotation motor 14.In addition, as long as can drive the structure of the upper rotating body 50 as common driven object, electronic rotation motor 14 also can be connected via mechanical mechanism etc. indirectly with hydraulic rotating motor 3.
Identically with action bars 10, the hydraulic oil from pioneer pump is imported from hydraulic power source 9 to action bars 19.Action bars 19, while reduce pressure to the hydraulic oil from hydraulic power source 9 according to its amount of toppling over, generates first pilot in the oil circuit corresponding to its toppling direction.The first pilot generated by action bars 19 acts on the guiding valve of directional control valve 15 and the switching position of suitably switching direction control valve 15.
Operate (the elongation action of swing arm hydraulic cylinder 16) in the lifting being performed swing arm 61 by action bars 19 can produce on the oil circuit of first pilot, be provided with pressure sensor 20.The first pilot detected by pressure sensor 20 is exported to controller 13.
Directional control valve 15 supplies the working oil imported via inlet restriction formula oil circuit 72 to swing arm hydraulic cylinder 16.Suitably can select according to the switching position of directional control valve 15 relative to the direction of the supply of the working oil of swing arm hydraulic cylinder 16.Such as, when by action bars 19 to swing arm lifting direction operation time, the guiding valve of directional control valve 15 moves to the left direction in figure, and the cylinder bottom side hydraulic pressure chamber supply working oil from pump 1 to swing arm hydraulic cylinder 16.The phegma force feed carrying out robot arm hydraulic cylinder 16 is back to fuel tank 4 via directional control valve 15.
Open and close valve 25 is valves of hydraulic pilot formula, is arranged on the upstream side of the one way valve 22 in the inlet restriction formula oil circuit 72 of connecting fluid press pump 1 and directional control valve 2.When open and close valve 25 is switched to fastening position (aftermentioned), block the supply from inlet restriction formula oil circuit 72 to the working oil of directional control valve 2, therefore, the supply of the working oil of the hydraulic rotating motor 3 to the downstream being arranged on directional control valve 2 is also blocked.
Electromagnetic switching valve 26 produces the first pilot of controlled opening/closing valve 25, and is controlled by the electric signal exported from controller 13.When not inputting electric signal from controller 13, electromagnetic switching valve 26 is switched on the position (OFF position) shown in Fig. 2, and the first pilot supplied to open and close valve 25 remains tank pressure.Now, open and close valve 25 remains on the open position shown in Fig. 2.On the other hand, when there being electric signal to input from controller 13, electromagnetic switching valve 26 is mobile to the top (ON position) in Fig. 2, and electromagnetic switching valve 26 makes the first pilot exported from pioneer pump via hydraulic power source 9 act on open and close valve 25.Thus, open and close valve 25 moves to the right side in Fig. 2 and is switched to fastening position.
Whether controller 13 judges that the rotation process undertaken by action bars 10 operates with the swing arm lifting undertaken by action bars 19 carries out simultaneously, and when being judged to be that in this determination processing two operations are carried out simultaneously, perform the process exporting electric signal to electromagnetic switching valve 26.As described above, controller 13 determines whether rotation process by the output valve of pressure sensor 11,12, and determines whether that swing arm lifting operates by the output valve of pressure sensor 20.As the decision method with or without operation, such as, using when being operated by operator with action bars 10,19 the suitable output valve of the minimum value of first pilot that produces as threshold value (such as 1.0MPa), and by whether reaching more than this threshold value to determine whether operation from the output valve of each sensor 11,12,20.
Controller 13 when be judged to be by operator carried out simultaneously rotation process and swing arm lifting operate, electromagnetic valve 26 is switched to ON position by exporting electric signal, thus open and close valve 25 is switched to fastening position.Thus, the working oil from hydraulic pump 1 blocks to being opened and closed valve 25 before directional control valve 2 in arrival.Consequently, the rising (elongation of swing arm hydraulic cylinder 16) of upper rotating body 50 and swing arm 61 together, rotates by means of only electronic rotation motor 14.On the other hand, when being judged to not carry out rotation swing arm lifting operation, electromagnetic valve 26 remains on OFF position, and open and close valve 25 remains on open position.Thus, the working oil from hydraulic pump 1 can be directed into hydraulic rotating motor 3 from inlet restriction formula oil circuit 72 via directional control valve 2.
In addition, controller 13 also carries out following process: generate and be used for controlling the control signal of electronic rotation motor 14 for current converter 103 and exporting this control signal to current converter 103, make no matter there is composite move without spin, upper rotating body 50 all rotates according to the direction of operating of action bars 10 and operational ton (that is, the output valve of pressure sensor 11,12).Current converter 103 controls electronic rotation motor 14 based on the control signal exported from controller 13.The control of the electronic rotation motor 14 undertaken by controller 13 and current converter 103 utilizes known method.Such as, have to carry out the method for FEEDBACK CONTROL to electro-motor 14 with the amount of the torque deficiency of the mode replenisher pressure motor 3 of the target velocity making the speed of upper rotating body 50 determine close to the operational ton by action bars or suitably distribute the method etc. of both sides' torque in the mode exporting the target torque calculated according to the operational ton of action bars 10 from electro-motor 14 and hydraulic motor 3.In the present embodiment, the hydraulic rotating motor 3 not Driving Torque when rotating composite move.Therefore, by controlling in the mode of supplementing this torque in shortage by electronic rotation motor 14, and can make not changed by the operation sense in the existing hydraulic circuit of the independent driving rotating bodies of hydraulic motor, the operation sense that obtains with hydraulic circuit and the control of the present embodiment by hydraulic motor 3 and electro-motor 14 driving rotating bodies 50.
At this, in order to the effect that easy understand the present invention obtains, the hydraulic crawler excavator of existing type is described.Because the system shown in Fig. 2 opens center type, so also utilize out the system of center type to be described at this.The directional control valve opened in the hydraulic system of center type exist be communicated with fuel tank central bypass opening, feed to the inlet restriction formula opening that working oil that executing agency supplies passes through and the outlet throttling formula opening passed through for the working oil returned from executing agency.
When the directional control valve being positioned at neutral position being moved when operating action bars, inlet restriction formula opening is open, and hydraulic oil can be made to flow into executing agency.In addition, when making directional control valve move, outlet throttling formula opening is open, and the phegma force feed from executing agency can be made to be back to fuel tank.
In addition, when making the directional control valve being positioned at neutral position move, central bypass opening reduces.Thus, become large from central bypass opening by the pressure reduction of the working oil of front and back, the discharge pressure of hydraulic pump rises.If pump pressure rises and exceedes the necessary pressure of driving (actuator load) of hydraulic actuating mechanism, then the hydraulic oil from hydraulic pump flows into this executing agency and drives this executing agency.In addition, central bypass aperture area is when the hydraulic oil from hydraulic pump flows into executing agency, and determine the ratio of the working oil to hydraulic actuating mechanism and central bypass open split, therefore, central bypass aperture area also controls the responsiveness of executing agency.
As mentioned above, directional control valve central bypass opening according to act on driven object executing agency load degree or relative to the operational ton (first pilot) of action bars executing agency's speed and optimally set.
Such as, the central bypass opening relating to the directional control valve of rotation sets as described below.When the action bars relating to rotation is toppled over by operator a little, operator requires the rotation of low speed.In addition, in order to make that the upper rotating body of hydraulic crawler excavator rotates (at the uniform velocity rotate) lentamente, required load is not high.Therefore, the necessity making pump pressure increase in this case is very low, so setting relates to the central bypass opening of the directional control valve of rotation significantly.
In addition, such as, the central bypass opening relating to the directional control valve of swing arm lifting sets as described below.When operator topples over action bars a little, operator requires the swing arm lifting of low speed.But owing to applying load when lifting operation to scraper bowl, so swing arm load is very high, the necessity making pump pressure increase to drive swing arm is very high.Therefore, in order to supply working oil to swing arm hydraulic cylinder, and the central bypass opening of swing arm lifting is set smaller.
Like this, even identical bar operational ton, according to load and the speed of the executing agency of operand, the central bypass opening simultaneously realizing the optimum of operability and efficiency also can be different.And usually, be equipped in the hydraulic system on hydraulic crawler excavator etc., the working oil of discharging from a hydraulic pump suitably can be shunted by directional control valve to drive multiple hydraulic actuating mechanism.Open in center type above-mentioned, the central bypass line of all directions control valve is connected in series, and the synthesis of the central bypass opening of multiple executing agency determines pump pressure and flows into the flow of executing agency side.
Fig. 3 is the summary construction diagram of the hydraulic system in the hydraulic crawler excavator of comparative example of the present invention.Hydraulic system shown in this figure is equivalent to eliminate open and close valve 25 and electromagnetic switching valve 26 from the hydraulic system 100 shown in Fig. 2.Different from present embodiment, when rotating swing arm lifting, upper rotating body 50 is driven by hydraulic rotating motor 3 and electronic rotation motor 14.
The as shown in the drawing hydraulic system opening center type is such, rotates the directional control valve 2 that controls and relate to the directional control valve 15 that swing arm controls and be configured on same pipeline if relate to, then can produce following phenomenon.At this, about this phenomenon, be assumed to be lifting operation to be described.
First, operator by independent swing arm lifting operation lifting goods lentamente.Even if the central bypass opening relating to the directional control valve 15 of swing arm is closed to make also to supply hydraulic oil to swing arm hydraulic cylinder 16 under very high load, therefore, swing arm hydraulic cylinder 16 extends and goods lifting.After goods rises to object height, operator stops swing arm lifting to operate.
Then, operator makes goods move lentamente by rotating operation separately.Even if due to the goods that plays, rotary load is not high yet, thus the central bypass opening relating to the directional control valve 2 of rotation with relate to swing arm directional control valve 15 central bypass opening compared with open larger, and rotary body 50 rotates lentamente.Namely, when lifting operation, by the action rotated and swing arm is independent separately, the central bypass tool discharge orifice of directional control valve 2 and directional control valve 15 becomes suitable throttle orifice, therefore, do not have problems ground control pump pressure and the flow to hydraulic actuating mechanism 16,3 inflow.
To this, owing to making goods move obliquely upward in rotation, so carry out swing arm lifting operation from the state carrying out rotating operation separately and carry out composite move (rotating swing arm lifting action).Now, the directional control valve 2 of rotation and the directional control valve 15 of swing arm are configured on same pump line road, and therefore, because of swing arm lifting operation, pent central bypass opening also plays a role as the central bypass opening rotated.That is, the central bypass opening of rotation becomes closed condition, and the balance of central bypass flow and rotation meter-in flow changes.Further, because swing arm lifting duty factor rotary load is large, so become the state that hydraulic oil easily flows into rotary side loop, hydraulic oil is made to flow into hydraulic rotating motor 3 and rotation is accelerated with running counter to the intention of operator.In lifting is mobile, run counter to operation and situation that rotation is accelerated can become the reason that goods rocks, unsatisfactory.
For this problem, the hydraulic crawler excavator of the present embodiment formed as described above, even if pump pressure rises when rotating swing arm lifting, working oil also can be stoped by open and close valve 25 to the inflow of hydraulic rotating motor 3, therefore, it is possible to the state of affairs making rotary speed accelerate with preventing to run counter to the intention of operator.Therefore, eliminate because there being composite move and make the situation that the operation sense of operator is different, so mainly easily make scraper bowl 65 stop on target location when low speed rotation without spin.
But in the present embodiment, the rotation rotating the upper rotating body 50 when swing arm lifting operates is carried out separately by electronic rotation motor 14, does not carry out the driving based on hydraulic rotating motor 3.Therefore, hydraulic rotating motor 3 is rotated by electronic rotation motor 14.Now, working oil carries out to the suction of the entrance side of hydraulic rotating motor 3 from fuel tank 4 via some two replenish valves 7,8, and working oil is discharged to fuel tank 4 from the discharge of the outlet side of hydraulic rotating motor 3 via directional control valve 2.
Fig. 4 is the summary construction diagram of the hydraulic system 100A of the second embodiment of the present invention.In the present embodiment, as blocking the mechanism of working oil to the inflow of hydraulic rotating motor 3, and be provided with electromagnetic opening and closing valve 28,29 on closure control valve 2 with two oil circuits of hydraulic rotating motor 3.In addition, illustrated electromagnetic valve 28,29 is in the upstream side of hydraulic rotating motor 3, and is arranged on the upstream side of replenish valve 7,8 and overflow valve 5,6.
Electromagnetic valve 28,29 is controlled based on the electric signal exported from controller 13.When the electric signal input not carrying out self-controller 13, electromagnetic switching valve 28,29 is switched to the position (OFF position (open position)) shown in Fig. 4, and keeps being communicated with of directional control valve 2 and hydraulic motor 3.On the other hand, when the electric signal input come with self-controller 13, electromagnetic switching valve 28,29 is mobile to the top (ON position (fastening position)) in Fig. 4, blocks oil circuit from directional control valve 2 and the oil circuit of self-hydraulic rotation motor 3 is communicated with fuel tank 4 in the future.Thus, electromagnetic valve 28,29 blocks working oil from hydraulic pump 1 to the supply of hydraulic motor 3.In addition, now, the electromagnetic valve 28 (29) that the suction of the hydraulic oil carried out based on the hydraulic motor 3 rotated by electro-motor 14 is blocked by the hydraulic oil rotating replenish valve 8 (7) or self-hydraulic pump 1 in the future carries out.
In the hydraulic system 100A formed as described above, controller 13 when be judged to be by operator to have carried out rotating swing arm lifting operate, by output electric signal, electromagnetic valve 28,29 is switched to ON position.Thus, the working oil from hydraulic pump 1 was blocked by electromagnetic valve 28 or electromagnetic valve 29 before hydraulic motor 3 in arrival.On the other hand, when being judged to not carry out over-rotation swing arm lifting operation, controller 13 does not export electric signal to electromagnetic valve 28,29, and therefore electromagnetic valve 28,29 remains on OFF position.Thus, the working oil from hydraulic pump 1 can be directed into hydraulic rotating motor 3 from inlet restriction formula oil circuit 72 via directional control valve 2.
In the embodiment so formed, even if pump pressure uprises when rotating swing arm lifting, its hydraulic oil also can not flow into hydraulic motor 3, therefore, it is possible to obtain the effect identical with the first embodiment.
In addition, in foregoing, describing the situation when rotating swing arm lifting, two electromagnetic valves 28,29 being switched to ON position, but also only an electromagnetic valve corresponding with the rotation direction indication indicated based on action bars 10 in these two electromagnetic valves 28,29 can be switched to ON position.This is because in this case, the phegma force feed from hydraulic motor 3 is back to fuel tank 4 via another electromagnetic valve and directional control valve 2 being positioned at OFF position.Such as, also can be, when operating to the direction making the detected value of pressure sensor 11 increase action bars 10, working oil is supplied to electromagnetic valve 28, therefore, only electromagnetic valve 28 is switched to ON position, and electromagnetic valve 29 continues to remain on OFF invariant position.
Fig. 5 is the summary construction diagram of the hydraulic system 100B of the 3rd embodiment of the present invention.In the present embodiment, in the device (cutting device) of the first pilot (control signal) of directional control valve 2, there is electromagnetic opening and closing valve 30,31 as Truncation.When rotating swing arm lifting, block the inflow of working oil to hydraulic rotating motor 3 by this electromagnetic valve 30,31.
Electromagnetic valve 30,31 controls based on the electric signal exported from controller 13.When the electric signal input not carrying out self-controller 13, electromagnetic valve 30,31 is switched to the position (OFF position (open position)) shown in Fig. 5, and the guide's pressure energy generated by action bars 10 enough acts on to directional control valve 2.On the other hand, when the electric signal input come with self-controller 13, electromagnetic valve 30,31 moves to the top (ON position (fastening position)) in Fig. 5, blocks the effect that the guide generated by action bars 10 presses to directional control valve 2.Thus, because directional control valve 2 remains on neutral position, so the supply from hydraulic pump 1 to the working oil of hydraulic motor 3 is truncated.
In the hydraulic system 100B formed as described above, controller 13 when be judged to be by operator to have carried out rotating swing arm lifting operate, by output electric signal, four electromagnetic valves 28,29,30,31 are switched to ON position.Because wherein two electromagnetic valves 30,31 interdict the first pilot (control signal) acting on directional control valve 2, so directional control valve 2 remains on neutral position.Thus, working oil is truncated from hydraulic pump 1 to the supply of hydraulic motor 3.In addition, hydraulic rotating motor 3 is connected with fuel tank 4 by remaining two electromagnetic valves 28,29.Thus, when rotating swing arm lifting, hydraulic motor 3 is rotated by electro-motor 14, being aspirated through of the working oil carried out based on this hydraulic motor 3 rotates replenish valve 8 (7) and carries out, and the discharge of working oil is undertaken (phegma force feed is finally back to fuel tank 4) by one of electromagnetic valve 28,29.
On the other hand, when being judged to not carry out rotation swing arm lifting operation, controller 13 does not export electric signal, so electromagnetic valve 28,29,30,31 remains on OFF position to any one electromagnetic valve 28,29,30,31.Thus, the working oil from hydraulic pump 1 can be directed into hydraulic rotating motor 3 according to the direction of operating of action bars 10 and operational ton via directional control valve 2.
Therefore, in the embodiment formed as described above, even if pump pressure uprises when rotating swing arm lifting, its hydraulic oil also can not flow into hydraulic motor 3, therefore, it is possible to obtain the effect identical with the first embodiment.Especially, in this second embodiment, although do not flow to hydraulic motor 3 from the working oil of hydraulic pump 1, but the central bypass circulation of directional control valve 2 narrows, thereby increase restriction loss, but according to the present embodiment, because the central bypass opening of directional control valve 2 remains closed condition, so swing arm hydraulic cylinder 16 can be controlled by the central bypass opening being most suitable for swing arm lifting.
In addition, in foregoing, describing the situation when rotating swing arm lifting, four electromagnetic valves 28,29,30,31 being switched to ON position, but also only two electromagnetic valves relevant to the rotation direction indication indicated based on action bars 10 in these four electromagnetic valves 28,29,30,31 can be switched to open position.Such as, also can be, when having carried out operating to the direction making the detected value of pressure sensor 11 increase to action bars 10, electromagnetic valve 30 and electromagnetic valve 29 are switched to ON position, and remaining electromagnetic valve 31,28 remains on OFF position.
Fig. 6 is the summary construction diagram of the hydraulic system 100C of the 4th embodiment of the present invention.In the present embodiment, blocking hydraulic oil to the mechanism of the inflow of hydraulic rotating motor 3 is electromagnetic valves 30,31 identical with the 3rd embodiment, but as mechanism hydraulic motor 3 is connected with fuel tank 4 when rotating swing arm lifting, and employ variable overflow valve 33,34, different from the 3rd embodiment in this.
Overflow valve 5,6 before variable overflow valve 33,34 replaces in each embodiment and be arranged on the loop of hydraulic motor 3, can change oil pressure relief arbitrarily by carrying out the signal of self-controller 13.When controller 13 is judged to have carried out to rotate swing arm lifting operation, the oil pressure relief of variable overflow valve 33,34 makes phegma force feed from hydraulic motor 3 easily to the degree that fuel tank 4 flows by the signal and being reduced to fully carrying out self-controller 13.Oil pressure relief in other situations remains and overflow valve 5,6 identical setting pressures.
In the hydraulic system 100C formed as described above, controller 13 when be judged to be by operator to have carried out rotating swing arm lifting operate, two electromagnetic valves 30,31 are switched to ON position by exporting electric signal, and reduce the oil pressure relief of variable overflow valve 33,34.Thus, working oil is truncated from hydraulic pump 1 to the supply of hydraulic motor 3.In addition, when rotating swing arm lifting, hydraulic motor 3 is rotated by electro-motor 14, being aspirated through of the working oil carried out based on this hydraulic motor 3 rotates replenish valve 8 (7) and carries out, and the discharge of working oil is undertaken by two overflow valves 33,34.Therefore, in the embodiment formed as described above, the effect identical with the 3rd embodiment also can be obtained.
Fig. 7 is the summary construction diagram of the hydraulic system 100D of the 5th embodiment of the present invention.In the present embodiment, blocking hydraulic oil to the mechanism of the inflow of hydraulic rotating motor 3 is electromagnetic valves 30,31 identical with the 3rd embodiment, but as mechanism hydraulic motor 3 is connected with fuel tank 4 when rotating swing arm lifting, employ two guide's one way valves 35,36, different from the 3rd embodiment in this.
Two replenish valves 7,8 before two guide's one way valves 35,36 replace in each embodiment and be arranged on the loop of hydraulic motor 3, can by first pilot adverse current, this first pilot be according to come self-controller 13 signal and via electromagnetic valve 37 output.
Electromagnetic valve 37 when the electric signal input come with self-controller 13 in Fig. 7 above (ON position) mobile, on this ON position, make to act on two guide's one way valves 35,36 via hydraulic power source 9 from the first pilot that pioneer pump exports.Thus, working oil is allowed to flow to fuel tank 4 via guide's one way valve 35,36.On the other hand, when the electric signal input not carrying out self-controller 13, electromagnetic valve 37 remains on the OFF position shown in Fig. 7, and restriction working oil is via the flowing of guide's one way valve 35,36 to fuel tank 4.
In the hydraulic system 100D formed as described above, controller 13 when be judged to be by operator to have carried out rotating swing arm lifting operate, two electromagnetic valves 30,31 are switched to ON position by exporting electric signal, and electromagnetic valve 37 is switched to ON position.Thus, working oil is truncated from hydraulic pump 1 to the supply of hydraulic motor 3.In addition, open guide's one way valve 35,36 by the first pilot exported via electromagnetic valve 37.Thus, the suction of the working oil carried out based on hydraulic motor 3 when rotating swing arm lifting and discharging is carried out via two guide's one way valves 35,36.Therefore, in the embodiment formed as described above, the effect identical with the 3rd embodiment also can be obtained.
But, although describe the composite move of rotation and swing arm lifting in the respective embodiments described above, but the condition rotating acceleration (velocity variations) when rotating composite move of problem is set to as the present invention, that the discharge pressure of hydraulic pump rises this situation, therefore the compound with swing arm 61 is not limited to, even with the compound of other executing agencies, the present invention is also effective.
In addition, in the respective embodiments described above, be illustrated for the shunt circuit being connected with hydraulic pump on all directional control valves, as long as but when being operated hydraulic rotating motor and other hydraulic actuating mechanisms by operator simultaneously, more to work oil condition to the hydraulic rotating Motor flow that load is little, just can be suitable for the present invention.That is, for having precedence over other hydraulic actuating mechanisms of comprising swing arm hydraulic cylinder and making hydraulic rotating motor configurations in the series loop of upstream side, can be suitable for too.Further, being not only out center type, can being suitable for too for utilizing the situation of closing the directional control valve of center type.
In addition, in the respective embodiments described above, export to controller 13 although detected the first pilot (hydraulic operation signal) that exports from operating means 10 by pressure sensor 11,12 and converted to electric signal, the structure directly exporting the electric operation signal corresponding with the operational ton of action bars 10 can also be adopted.In this case, the position sensor (such as rotary encoder) of the swing offset detecting action bars 10 can be utilized.In addition, in the present embodiment, although act on first pilot to control the spool position of directional control valve 2, also directional control valve 2 can be set to the electromagnetic valve being come spool control valve position by electric signal.Further, in the present embodiment, only detected the operational ton of action bars 10 by pressure sensor 11,12, but such as also can use the combination etc. of pressure sensor 11,12 and above-mentioned position sensor, sensor combinations different for detection mode is used.Like this, even if there is undesirable condition in a sensor, also can be dealt with by other sensors, therefore, it is possible to improve the reliability of system.
In addition, the present invention is not limited to above-mentioned embodiment, is also included in the various variation do not departed within the scope of its main idea.Such as, the present invention is not limited to have all structures illustrated by above-mentioned embodiment, also comprises the situation of the part deleting its structure.In addition, a part for the structure of certain embodiment can be appended to or be replaced into the structure of other embodiments.
Description of reference numerals
1-pump, 2-direction of rotation control valve, 3-hydraulic rotating motor, 4-fuel tank, 5-overflow valve, 6-overflow valve, 7-replenish valve, 8-replenish valve, 9-is from the oil pressure source of pioneer pump, 10-rotation process bar, 11-rotates pilot pressure sensor, 12-rotates pilot pressure sensor, 13-controller, 14-electronic rotation motor, 15-swing arm directional control valve, 16-swing arm hydraulic cylinder, 17-fuel tank, 19-swing arm action bars, 20-pressure sensor, 22-one way valve, 23-one way valve, 24-overflow valve, 25-open and close valve, 26-electromagnetic valve, 28-electromagnetic valve, 29-electromagnetic valve, 30-electromagnetic valve, 31-electromagnetic valve, the variable overflow valve of 33-, the variable overflow valve of 34-, 35-guide's one way valve, 36-guide's one way valve, 37-electromagnetic valve, 50-upper rotating body, 61-swing arm.

Claims (5)

1. an engineering machinery, is characterized in that, has:
Rotary body (50);
Hydraulic pump (1);
The hydraulic motor (3) of described rotary body is driven by the working oil from this hydraulic pump;
The electro-motor (14) of described rotary body jointly or is individually driven with this hydraulic motor; With
Exist with the situation of described rotary body action simultaneously and the hydraulic actuating mechanism (16) driven by the working oil from described hydraulic pump,
Described rotary body, when with the action simultaneously of described hydraulic actuating mechanism, rotates by means of only described electro-motor.
2. engineering machinery according to claim 1, is characterized in that, when described rotary body and the action simultaneously of described hydraulic actuating mechanism, described hydraulic motor is truncated the supply of the working oil from described hydraulic pump.
3. engineering machinery according to claim 2, is characterized in that, also has:
Directional control valve (2), it is arranged on the oil circuit of the described hydraulic pump of connection and described hydraulic motor, for controlling direction and the flow of the working oil supplied to described hydraulic motor from described hydraulic pump; With
Open and close valve (25), it is arranged on the oil circuit of the described hydraulic pump of connection and described directional control valve,
Described open and close valve is switched to fastening position when described rotary body and the action simultaneously of described hydraulic actuating mechanism.
4. engineering machinery according to claim 2, is characterized in that, also has:
Directional control valve (2), it is arranged on the oil circuit of the described hydraulic pump of connection and described hydraulic motor, for controlling direction and the flow of the working oil supplied to described hydraulic motor from described hydraulic pump; With
Open and close valve (28,29), it is arranged on the oil circuit of the described directional control valve of connection and described hydraulic motor,
Described open and close valve is switched to fastening position when described rotary body and the action simultaneously of described hydraulic actuating mechanism.
5. engineering machinery according to claim 2, is characterized in that, also has:
Directional control valve (2), it is arranged on the oil circuit of the described hydraulic pump of connection and described hydraulic motor, for controlling direction and the flow of the working oil supplied to described hydraulic motor from described hydraulic pump; With
Cutting device (30,31), it is when described rotary body and the action simultaneously of described hydraulic actuating mechanism, and Truncation is in the control signal of described directional control valve.
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